Author

Erdi Sayar

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Jul 2026

D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions

D-SafeMPC improves safety, task success rates, and planning efficiency over state-of-the-art baselines, and employs an iterative-projection scheme where an MPC refines the trajectory at each denoising step.

Erdi Sayar, Ersin Daş, Joel W. Burdick et al. · arXiv.org · 0 citations

Conference Open access Jul 2026

Exp2VLA: Enabling Vision–Language–Action for Drone Navigation from Expert Demonstrations

A practical expert-distillation pipeline (Exp2VLA) for language-conditioned drone navigation that allows existing control strategies to be transferred into a unified language-guided navigation model, reducing manual system integration and lowering the barrier for deploying new robot behaviors.

V. Dang, K. Rajendran, Erdi Sayar et al. · 2026 IEEE/ASME International... · 0 citations